/*
*.............................
*write by xujunhui
*https://github.com/Kirinnana
*test zhouwentao
*hardware zhangjun
*/
#ifndef _MAP_H
#define _MAP_H

#ifdef __cplusplus
extern "C" {
#endif



#include <math.h>
#include <stdio.h>
#include <stdlib.h>

#ifndef MAP_CREATER
#include "state_machines.h"
#endif

#define ROWS 20
#define COLS 20
typedef unsigned          char u8;

//目标点位
static const short int gobal_navigation[][2]={
    //{8,4},{12,4},{4,12},{12,12},{4,4},{2,0},
    // {14,0},{16,18},{0,18},{0,4},{2,0},
    //{14,0},{12,0},{8,4},{4,12},{12,12},{8,4},{12,0},{2,0},
    {14,0},{12,0},{8,4},{4,4},{4,12},{8,4},{12,0},{2,0},
    //{8,4},{12,4},{12,12},{4,12},{4,4},{8,4},{12,,4},{4,12},{4,4},{12,12},{12,4},{8,4},{2,0}, {8,12},{8,18},{16,18},{0,18},{2,18},{4,12},
    //{4,4},{16,18},{0,18},{2,0},
    //{4,4},{4,12},
    
};

//地图坐标对象
typedef struct map_point
{
    short int row;
    short int col;
}map_Point;


#ifndef MAP_CREATER
//地图坐标对象打印
static __attribute__((noinline)) void map_point_print(void *_value)
{
    map_Point *temp_point = NULL;
    temp_point = (map_Point*)_value;
    printf("row = %d col = %d \n",temp_point->row,temp_point->col);
}

// 地图对象比较
static __attribute__((noinline)) short int map_point_comp(void *_value1, void *_value2)
{
	map_Point *temp_point1 = NULL, *temp_point2 = NULL;
	temp_point1 = (map_Point *)_value1;
	temp_point2 = (map_Point *)_value2;
	if (temp_point1->row == temp_point2->row && temp_point1->col == temp_point2->col)
	{
		return 1;
	}
	return 0;
}

// 地图对象销毁
static __attribute__((noinline)) void map_point_destory(void *_value)
{
	if (_value != NULL)
	{
		FREE(_value);
	}
}

// 地图对象建立
static __attribute__((noinline)) map_Point *map_point_create(short int _row, short int _col)
{
	map_Point *temp_point = NULL;
	temp_point = MALLOC(map_Point, 1);
	temp_point->row = _row;
	temp_point->col = _col;
	return temp_point;
}
#endif


typedef enum point_class
{
	// 空点
	empty____ = 0,
	// 节点
	nodes____,
	// 信息点
	msg_point,
} point_class_t;


typedef enum node_class
{ 
    xinxi__,
    // 平台，
    pingtai = 1,
    // 节点，
    jiedian,
    // 撞点
    zhudian,

}node_class_t; // 起始点，平台，节点，撞点

typedef struct map_Square
{
    // 每个点的名字
    const char* point_name;
    // 所有节点类型
    u8 nodes_class;
    // 点之间的速度对应的距离
    float P_distance[10];
    // 建议的速度 厘米/s
    short int advice_speed[10];
    // 实际位置坐标
    float location_x_y[2];
    // 正在访问的数,如果是2读节点之间的距离、建议速度，1读节点序号、实际位置坐标
    u8 isvisiting_msg;
    //该信息点是否检测门 或者该节点不能通行
    u8 isVisited_or_check_door;
    // 跳跃
    u8 dump[2];
} map_Square_t;




// 第 0列
  static const map_Square_t map_00_00 = {"shan1"           , zhudian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, {-1.93 , 0.00 } , nodes____ ,0 ,{ 0 , 0}};
//static const map_Square_t map_01_00 = {};
  static const map_Square_t map_02_00 = {"QS_pingtai1"     , pingtai ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , nodes____ ,0 ,{ 0 , 0}};
  static const map_Square_t map_03_00 = {"msg"             , xinxi__ ,{ 0.50, 0.39, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   85, 50,  0,  0,   0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 1 , 0}};
  static const map_Square_t map_04_00 = {"point1"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 0.89 , 0.00 } , nodes____ ,0 ,{ 0 , 0}};
  static const map_Square_t map_05_00 = {"msg_changqiao"   , xinxi__ ,{ 0.8, 0.21, 1.46, 0.4, 0.5, 0.22, 0.0, 0.00, 0.00, 0.00,}, {   50 , 100,  100, 100,  100,  45,  0,   0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 7 , 0}};
//static const map_Square_t map_06_00 = {};
//static const map_Square_t map_07_00 = {};
//static const map_Square_t map_08_00 = {};
//static const map_Square_t map_09_00 = {};
//static const map_Square_t map_10_00 = {};
  static const map_Square_t map_11_00 = {"msg_changqiao"   , xinxi__ ,{ 0.8, 0.21, 1.46, 0.4, 0.5, 0.22, 0.0, 0.00, 0.00, 0.00,}, {    90, 90,  100, 100,  90,  80,  0,   0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 7 , 0}};
  static const map_Square_t map_12_00 = {"point2"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 4.48 , 0.00 } , nodes____ ,0 ,{ 0 , 0}};
  static const map_Square_t map_13_00 = {"msg"             , xinxi__ ,{ 0.40, 0.20, 0.20, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, { 65, 95,  80, 0,  0,  0,  0,   0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 1 , 0}};
  static const map_Square_t map_14_00 = {"pingtai2"        , pingtai ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 5.43 , 0.00 } , nodes____ ,0 ,{ 0 , 0}};
//static const map_Square_t map_15_00 = {};
  static const map_Square_t map_16_00 = {"shan2"           , zhudian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 7.60 , 0.00 } , nodes____ ,0 ,{ 0 , 0}};
//static const map_Square_t map_17_00 = {};
//static const map_Square_t map_18_00 = {};
//static const map_Square_t map_19_00 = {};


// 第 1列
//static const map_Square_t map_00_01 = {};
  static const map_Square_t map_01_01 = {"msg"             , xinxi__ ,{ 0.45, 2.37, 0.45, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   67,  150,   67,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};
//static const map_Square_t map_02_01 = {};
//static const map_Square_t map_03_01 = {};
//static const map_Square_t map_04_01 = {};
  static const map_Square_t map_05_01 = {"msg_jiansuban"   , xinxi__ ,{ 0.5, 1.23, 0.5, 0.0, 0, 0, 0.0, 0.0, 0.00, 0.00,}, {   80,  115, 80,  0,  0, 0,  0,   0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};
//static const map_Square_t map_06_01 = {};
//static const map_Square_t map_07_01 = {};
//static const map_Square_t map_08_01 = {};
//static const map_Square_t map_09_01 = {};
//static const map_Square_t map_10_01 = {};
  static const map_Square_t map_11_01 = {"msg_tixingshan"  , xinxi__ ,{ 0.36, 1, 1, 0, 0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   80,  80,  80,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};
//static const map_Square_t map_12_01 = {};
//static const map_Square_t map_13_01 = {};
//static const map_Square_t map_14_01 = {};
  static const map_Square_t map_15_01 = {"msg"             , xinxi__ ,{ 0.45, 2.00, 0.45, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   67,  150,   67,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};
//static const map_Square_t map_16_01 = {};
//static const map_Square_t map_17_01 = {};
//static const map_Square_t map_18_01 = {};
//static const map_Square_t map_19_01 = {};


// 第 2列
//static const map_Square_t map_00_02 = {};
//static const map_Square_t map_01_02 = {};
//static const map_Square_t map_02_02 = {};
//static const map_Square_t map_03_02 = {};
//static const map_Square_t map_04_02 = {};
//static const map_Square_t map_05_02 = {};
//static const map_Square_t map_06_02 = {};
//static const map_Square_t map_07_02 = {};
//static const map_Square_t map_08_02 = {};
//static const map_Square_t map_09_02 = {};
//static const map_Square_t map_10_02 = {};
//static const map_Square_t map_11_02 = {};
//static const map_Square_t map_12_02 = {};
//static const map_Square_t map_13_02 = {};
//static const map_Square_t map_14_02 = {};
//static const map_Square_t map_15_02 = {};
//static const map_Square_t map_16_02 = {};
//static const map_Square_t map_17_02 = {};
//static const map_Square_t map_18_02 = {};
//static const map_Square_t map_19_02 = {};


// 第 3列
//static const map_Square_t map_00_03 = {};
//static const map_Square_t map_01_03 = {};
//static const map_Square_t map_02_03 = {};
  static const map_Square_t map_03_03 = {"msg"             , xinxi__ ,{ 0.45, 2.37, 0.45, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   75,  120,   75,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};      
//static const map_Square_t map_04_03 = {};
//static const map_Square_t map_05_03 = {};
//static const map_Square_t map_06_03 = {};
  static const map_Square_t map_07_03 = {"msg_jiansuban"   , xinxi__ ,{ 0.5, 1.23, 0.5, 0.0, 0, 0, 0.0, 0.0, 0.00, 0.00,}, {   90,  115, 90,  0,  0, 0,  0,   0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};
//static const map_Square_t map_08_03 = {};
  static const map_Square_t map_09_03 = {"msg_tixingshan"  , xinxi__ ,{ 0.38, 1, 1, 0, 0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   80,  80,  80,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};      
//static const map_Square_t map_10_03 = {};
//static const map_Square_t map_11_03 = {};
//static const map_Square_t map_12_03 = {};
  static const map_Square_t map_13_03 = {"msg"             , xinxi__ ,{ 0.45, 2.00, 0.45, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   67,  120,   67,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};      
//static const map_Square_t map_14_03 = {};
//static const map_Square_t map_15_03 = {};
//static const map_Square_t map_16_03 = {};
//static const map_Square_t map_17_03 = {};
//static const map_Square_t map_18_03 = {};
//static const map_Square_t map_19_03 = {};


// 第 4列
  static const map_Square_t map_00_04 = {"pingtai3"        , pingtai ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, {-1.91 , 1.15 } , nodes____ ,0 ,{ 0 , 0}};      
  static const map_Square_t map_01_04 = {"msg"             , xinxi__ ,{ 0.25, 2.3, 0.65, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   90, 130,  90,  0,  0,  0,  0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
//static const map_Square_t map_02_04 = {};
  static const map_Square_t map_03_04 = {"msg"             , xinxi__ ,{ 0.25, 2.3, 0.65, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   90, 130,  90,  0,  0,  0,  0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
  static const map_Square_t map_04_04 = {"point3"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 1.29 , 1.15 } , nodes____ ,0,{ 0 , 0}};      
  static const map_Square_t map_05_04 = {"msg"             , xinxi__ ,{ 0.20, 1.10, 0.23, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   80,  130,  50,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
//static const map_Square_t map_06_04 = {};
  static const map_Square_t map_07_04 = {"msg"             , xinxi__ ,{ 0.28, 1.10, 0.33, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   80,  130,  80,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
  static const map_Square_t map_08_04 = {"point4"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 2.81 , 1.25 } , nodes____ ,0 ,{ 0 , 0}};      
  static const map_Square_t map_09_04 = {"msg"             , xinxi__ ,{ 0.38, 0.8, 0.30, 0.0, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   80,  130,  80,  0,  0,  0,   0,   0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
//static const map_Square_t map_10_04 = {};
  static const map_Square_t map_11_04 = {"msg"             , xinxi__ ,{0.18, 1, 0.30, 0.0, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,},  {  75,  130,  80,  0,  0,  0,   0,   0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};
  static const map_Square_t map_12_04 = {"point5"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 4.3 , 1.15 } , nodes____ ,0 ,{ 0 , 0}};      
  static const map_Square_t map_13_04 = {"msg"             , xinxi__ ,{ 0.23, 1.40, 1.0, 0.6, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   75,  150,  150,  90,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
//static const map_Square_t map_14_04 = {};
  static const map_Square_t map_15_04 = {"msg"             , xinxi__ ,{ 0.23, 1.40, 1.0, 0.6, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   45,  150,  150,  90,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
  static const map_Square_t map_16_04 = {"pingtai4"        , pingtai ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 7.53 , 1.150 } , nodes____ ,0 ,{ 0 , 0}};      
//static const map_Square_t map_17_04 = {};
//static const map_Square_t map_18_04 = {};
//static const map_Square_t map_19_04 = {};


// 第 5列
//static const map_Square_t map_00_05 = {};
//static const map_Square_t map_01_05 = {};
//static const map_Square_t map_02_05 = {};
//static const map_Square_t map_03_05 = {};
  static const map_Square_t map_04_05 = {"msg"             , xinxi__ ,{  0.60, 1.20, 0.4, 0.20, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   85,  90,  90,  85,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,1 ,{ 0 , 7}};      
  static const map_Square_t map_05_05 = {"msg"             , xinxi__ ,{ 0.20, 0.40, 0.20, 0.60, 0.30, 0.20, 0.00, 0.00, 0.00, 0.00,}, {   90,  90,  90,  90,  90,   85,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,1 ,{ 3 , 3}};      
//static const map_Square_t map_06_05 = {};
//static const map_Square_t map_07_05 = {};
//static const map_Square_t map_08_05 = {};
//static const map_Square_t map_09_05 = {};
//static const map_Square_t map_10_05 = {};
  static const map_Square_t map_11_05 = {"msg"             , xinxi__ ,{ 0.20, 0.30, 0.60, 0.20, 0.40, 0.20, 0.00, 0.00, 0.00, 0.00,}, {   45, 80,  80,  80,  80,  45,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,1 ,{ 3 , 3}};      
  static const map_Square_t map_12_05 = {"msg"             , xinxi__ ,{ 0.55, 1.3, 0.8, 0.0, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   90,  120,  85,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,1 ,{ 0 , 7}};      
//static const map_Square_t map_13_05 = {};
//static const map_Square_t map_14_05 = {};
//static const map_Square_t map_15_05 = {};
//static const map_Square_t map_16_05 = {};
//static const map_Square_t map_17_05 = {};
//static const map_Square_t map_18_05 = {};
//static const map_Square_t map_19_05 = {};


// 第 6列
//static const map_Square_t map_00_06 = {};
//static const map_Square_t map_01_06 = {};
//static const map_Square_t map_02_06 = {};
//static const map_Square_t map_03_06 = {};
//static const map_Square_t map_04_06 = {};
//static const map_Square_t map_05_06 = {};
//static const map_Square_t map_06_06 = {};
//static const map_Square_t map_07_06 = {};
//static const map_Square_t map_08_06 = {};
//static const map_Square_t map_09_06 = {};
//static const map_Square_t map_10_06 = {};
//static const map_Square_t map_11_06 = {};
//static const map_Square_t map_12_06 = {};
//static const map_Square_t map_13_06 = {};
//static const map_Square_t map_14_06 = {};
//static const map_Square_t map_15_06 = {};
//static const map_Square_t map_16_06 = {};
//static const map_Square_t map_17_06 = {};
//static const map_Square_t map_18_06 = {};
//static const map_Square_t map_19_06 = {};


// 第 7列
//static const map_Square_t map_00_07 = {};
//static const map_Square_t map_01_07 = {};
//static const map_Square_t map_02_07 = {};
//static const map_Square_t map_03_07 = {};
//static const map_Square_t map_04_07 = {};
//static const map_Square_t map_05_07 = {};
//static const map_Square_t map_06_07 = {};
  static const map_Square_t map_07_07 = {"msg"             , xinxi__ ,{ 0.20, 0.40, 0.20, 0.60, 0.30, 0.20, 0.00, 0.00, 0.00, 0.00,},{   90,  90,  90,  90,  85,   85,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,1 ,{ 3 , 3}};      
//static const map_Square_t map_08_07 = {};
  static const map_Square_t map_09_07 = {"msg"             , xinxi__ ,{ 0.25, 0.250, 0.60, 0.20, 0.40, 0.20, 0.00, 0.00, 0.00, 0.00,}, {   45, 90,  90,  90,  90,   85,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,1 ,{ 3 , 3}};      
//static const map_Square_t map_10_07 = {};
//static const map_Square_t map_11_07 = {};
//static const map_Square_t map_12_07 = {};
//static const map_Square_t map_13_07 = {};
//static const map_Square_t map_14_07 = {};
//static const map_Square_t map_15_07 = {};
//static const map_Square_t map_16_07 = {};
//static const map_Square_t map_17_07 = {};
//static const map_Square_t map_18_07 = {};
//static const map_Square_t map_19_07 = {};


// 第 8列
//static const map_Square_t map_00_08 = {};
//static const map_Square_t map_01_08 = {};
//static const map_Square_t map_02_08 = {};
//static const map_Square_t map_03_08 = {};
//static const map_Square_t map_04_08 = {};
//static const map_Square_t map_05_08 = {};
//static const map_Square_t map_06_08 = {};
//static const map_Square_t map_07_08 = {};
  static const map_Square_t map_08_08 = {"point6"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 2.795, 2.325 } , nodes____ ,0 ,{ 0 , 0}};      
//static const map_Square_t map_09_08 = {};
//static const map_Square_t map_10_08 = {};
//static const map_Square_t map_11_08 = {};
//static const map_Square_t map_12_08 = {};
//static const map_Square_t map_13_08 = {};
//static const map_Square_t map_14_08 = {};
//static const map_Square_t map_15_08 = {};
//static const map_Square_t map_16_08 = {};
//static const map_Square_t map_17_08 = {};
//static const map_Square_t map_18_08 = {};
//static const map_Square_t map_19_08 = {};


// 第 9列
//static const map_Square_t map_00_09 = {};
//static const map_Square_t map_01_09 = {};
//static const map_Square_t map_02_09 = {};
//static const map_Square_t map_03_09 = {};
//static const map_Square_t map_04_09 = {};
//static const map_Square_t map_05_09 = {};
//static const map_Square_t map_06_09 = {};
  static const map_Square_t map_07_09 = {"msg"             , xinxi__ ,{ 0.20, 0.10, 0.20, 0.91, 0.20, 0.20, 0.10, 0.00, 0.00, 0.00,}, {   90,  100, 130, 130,  130,  120,   85,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};      
//static const map_Square_t map_08_09 = {};
  static const map_Square_t map_09_09 = {"msg"             , xinxi__ ,{ 0.20, 0.10, 0.20, 0.94, 0.20, 0.10, 0.20, 0.00, 0.00, 0.00,}, {   85,  130,  130,  130, 120,  95,   85,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};      
//static const map_Square_t map_10_09 = {};
//static const map_Square_t map_11_09 = {};
//static const map_Square_t map_12_09 = {};
//static const map_Square_t map_13_09 = {};
//static const map_Square_t map_14_09 = {};
//static const map_Square_t map_15_09 = {};
//static const map_Square_t map_16_09 = {};
//static const map_Square_t map_17_09 = {};
//static const map_Square_t map_18_09 = {};
//static const map_Square_t map_19_09 = {};


// 第10列
//static const map_Square_t map_00_10 = {};
//static const map_Square_t map_01_10 = {};
//static const map_Square_t map_02_10 = {};
//static const map_Square_t map_03_10 = {};
//static const map_Square_t map_04_10 = {};
//static const map_Square_t map_05_10 = {};
//static const map_Square_t map_06_10 = {};
//static const map_Square_t map_07_10 = {};
//static const map_Square_t map_08_10 = {};
//static const map_Square_t map_09_10 = {};
//static const map_Square_t map_10_10 = {};
//static const map_Square_t map_11_10 = {};
//static const map_Square_t map_12_10 = {};
//static const map_Square_t map_13_10 = {};
//static const map_Square_t map_14_10 = {};
//static const map_Square_t map_15_10 = {};
//static const map_Square_t map_16_10 = {};
//static const map_Square_t map_17_10 = {};
//static const map_Square_t map_18_10 = {};
//static const map_Square_t map_19_10 = {};


// 第11列
//static const map_Square_t map_00_11 = {};
//static const map_Square_t map_01_11 = {};
//static const map_Square_t map_02_11 = {};
//static const map_Square_t map_03_11 = {};
  static const map_Square_t map_04_11 = {"msg"             , xinxi__ ,{  0.80, 1.20, 0.4, 0.30, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   80,  80,  80,  80,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,1 ,{ 0 , 7}};       
  static const map_Square_t map_05_11 = {"msg"             , xinxi__ ,{ 0.20, 0.10, 0.20, 0.91, 0.20, 0.20, 0.10, 0.00, 0.00, 0.00,}, {   85,  130,140, 150,  130,  120,   85,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};      
//static const map_Square_t map_06_11 = {};
//static const map_Square_t map_07_11 = {};
//static const map_Square_t map_08_11 = {};
//static const map_Square_t map_09_11 = {};
//static const map_Square_t map_10_11 = {};
  static const map_Square_t map_11_11 = {"msg"             , xinxi__ ,{ 0.20, 0.10, 0.20, 0.94, 0.20, 0.10, 0.20, 0.00, 0.00, 0.00,}, {   85,  130,  130,  130, 120,  95,   85,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 3}};      
  static const map_Square_t map_12_11 = {"msg"             , xinxi__ ,{ 0.55, 1.3, 0.8, 0.0, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   90,  120,  85,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,1 ,{ 0 , 7}};      
//static const map_Square_t map_13_11 = {};
//static const map_Square_t map_14_11 = {};
//static const map_Square_t map_15_11 = {};
//static const map_Square_t map_16_11 = {};
//static const map_Square_t map_17_11 = {};
//static const map_Square_t map_18_11 = {};
//static const map_Square_t map_19_11 = {};


// 第12列
  static const map_Square_t map_00_12 = {"pingtai5"        , pingtai ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, {-1.91 , 3.50 } , nodes____ ,0 ,{ 0 , 0}};      
  static const map_Square_t map_01_12 = {"msg_tixingshan"  , xinxi__ ,{ 0.42,0.4, 0.9, 0.93, 0.550, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   100,  130,   130,  100,   90,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
//static const map_Square_t map_02_12 = {};
  static const map_Square_t map_03_12 = {"msg_tixingshan"  , xinxi__ ,{ 0.42,0.4, 0.9, 0.93, 0.550, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   100,  130,   130,  100,   90,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
  static const map_Square_t map_04_12 = {"point7"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 1.29 , 3.50 } , nodes____ ,0,{ 0 , 0}};
  static const map_Square_t map_05_12 = {"msg_xieban"      , xinxi__ ,{0.1, 1.0, 0.24, 0, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,}, {   85,  120,  100,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
//static const map_Square_t map_06_12 = {};
  static const map_Square_t map_07_12 = {"msg_xieban"      , xinxi__ ,{0.30, 1.0, 0.24, 0, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,},{   85,  120,  100,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};
  static const map_Square_t map_08_12 = {"point8"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 2.81 , 3.50 } , nodes____ ,0 ,{ 0 , 0}};
  static const map_Square_t map_09_12 = {"msg_xieban"      , xinxi__ ,{0.21, 1.0, 0.30, 0, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,},{   85,  120,  100,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};
//static const map_Square_t map_10_12 = {};
  static const map_Square_t map_11_12 = {"msg_xieban"      , xinxi__ ,{0.21, 1.0, 0.30, 0, 0.0, 0.0, 0.0, 0.00, 0.00, 0.00,},{   85,  120,  100,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
  static const map_Square_t map_12_12 = {"point9"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 4.3 , 3.50 } , nodes____ ,0,{ 0 , 0}};      
  static const map_Square_t map_13_12 = {"msg"             , xinxi__ ,{ 0.40, 2.30, 0.40, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   67,  150,   67,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
//static const map_Square_t map_14_12 = {};
  static const map_Square_t map_15_12 = {"msg"             , xinxi__ ,{ 0.40, 2.30, 0.40, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   67,  150,   67,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 3 , 0}};      
  static const map_Square_t map_16_12 = {"point10"          , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 7.80 , 3.68 } , nodes____ ,0 ,{ 0 , 0}};      
//static const map_Square_t map_17_12 = {};
//static const map_Square_t map_18_12 = {};
//static const map_Square_t map_19_12 = {};


// 第13列
//static const map_Square_t map_00_13 = {};
//static const map_Square_t map_01_13 = {};
//static const map_Square_t map_02_13 = {};
  static const map_Square_t map_03_13 = {"msg"             , xinxi__ ,{0.6, 1.70, 0.2, 0, 0, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   90,  90,  40,  0,   0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 1 , 5}};
//static const map_Square_t map_04_13 = {"msg"             , xinxi__ ,{ 0.22, 0.80, 0.2, 0, 0, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   70,  70,  35,  0,   0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 3}};      
//static const map_Square_t map_05_13 = {};
//static const map_Square_t map_06_13 = {};
//static const map_Square_t map_07_13 = {};
  static const map_Square_t map_08_13 = {"msg"             , xinxi__ ,{ 1.0, 1.0, 0.22, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   110,  140,   130,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 5}};
//static const map_Square_t map_09_13 = {};
//static const map_Square_t map_10_13 = {};
//static const map_Square_t map_11_13 = {};
  static const map_Square_t map_12_13 = {"msg"             , xinxi__ ,{ 0.20, 0.15, 0.50, 0.12, 0.20, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   75,  145,  166,  145,   75,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 3}};      
//static const map_Square_t map_13_13 = {};
//static const map_Square_t map_14_13 = {};
//static const map_Square_t map_15_13 = {};
  static const map_Square_t map_16_13 = {"msg"             , xinxi__ ,{ 0.60, 0.30, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   20,    6,    0,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 3}};      
//static const map_Square_t map_17_13 = {};
//static const map_Square_t map_18_13 = {};
//static const map_Square_t map_19_13 = {};


// 第14列
//static const map_Square_t map_00_14 = {};
//static const map_Square_t map_01_14 = {};
//static const map_Square_t map_02_14 = {};
//static const map_Square_t map_03_14 = {"msg"             , xinxi__ ,{0.6, 1.70, 0.2, 0, 0, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   90,  90,  40,  0,   0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 1 , 4}};
//static const map_Square_t map_04_14 = {};
//static const map_Square_t map_05_14 = {};
//static const map_Square_t map_06_14 = {};
//static const map_Square_t map_07_14 = {};
//static const map_Square_t map_08_14 = {};
//static const map_Square_t map_09_14 = {};
//static const map_Square_t map_10_14 = {};
//static const map_Square_t map_11_14 = {};
//static const map_Square_t map_12_14 = {};
//static const map_Square_t map_13_14 = {};
//static const map_Square_t map_14_14 = {};
//static const map_Square_t map_15_14 = {};
//static const map_Square_t map_16_14 = {};
//static const map_Square_t map_17_14 = {};
//static const map_Square_t map_18_14 = {};
//static const map_Square_t map_19_14 = {};


// 第15列
//static const map_Square_t map_00_15 = {};
//static const map_Square_t map_01_15 = {};
//static const map_Square_t map_02_15 = {};
//static const map_Square_t map_03_15 = {"msg"             , xinxi__ ,{0.6, 1.70, 0.2, 0, 0, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   90,  90,  40,  0,   0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 3}};      
//static const map_Square_t map_04_15 = {"msg"             , xinxi__ ,{0.22, 0.80, 0.2, 0, 0, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   90,  90,  40,  0,   0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 3}};      
//static const map_Square_t map_05_15 = {};
//static const map_Square_t map_06_15 = {};
//static const map_Square_t map_07_15 = {};
//static const map_Square_t map_08_15 = {};
//static const map_Square_t map_09_15 = {};
//static const map_Square_t map_10_15 = {};
//static const map_Square_t map_11_15 = {};
  static const map_Square_t map_12_15 = {"msg"             , xinxi__ ,{ 0.20, 0.15, 0.50, 0.12, 0.20, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   75,  145,  166,  145,   75,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 3}};      
//static const map_Square_t map_13_15 = {};
//static const map_Square_t map_14_15 = {};
//static const map_Square_t map_15_15 = {};
  static const map_Square_t map_16_15 = {"msg"             , xinxi__ ,{ 0.30, 0.60, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    6,   20,    0,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 3}};      
//static const map_Square_t map_17_15 = {};
//static const map_Square_t map_18_15 = {};
//static const map_Square_t map_19_15 = {};


// 第16列
//static const map_Square_t map_00_16 = {};
//static const map_Square_t map_01_16 = {};
//static const map_Square_t map_02_16 = {};
//static const map_Square_t map_03_16 = {};
//static const map_Square_t map_04_16 = {"point11"         , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 1.29 , 4.77 } , nodes____ ,0 ,{ 0 , 0}};      
  static const map_Square_t map_05_16 = {"msg_xieban"      , xinxi__ ,{ 0.25, 2.52, 0.25, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   67,  120,   67,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 7 , 0}};      
//static const map_Square_t map_06_16 = {};
//static const map_Square_t map_07_16 = {};
//static const map_Square_t map_08_16 = {};
//static const map_Square_t map_09_16 = {};
//static const map_Square_t map_10_16 = {};
  static const map_Square_t map_11_16 = {"msg_xieban"      , xinxi__ ,{ 0.25, 2.52, 0.25, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   67,  120,   67,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 7 , 0}};      
  static const map_Square_t map_12_16 = {"point12"         , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 6.0 , 4.85 } , nodes____ ,0 ,{ 0 , 0}};      
//static const map_Square_t map_13_16 = {};
  static const map_Square_t map_14_16 = {"shan5"           , zhudian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 7.23 , 4.58 } , nodes____ ,0 ,{ 0 , 0}};      
  static const map_Square_t map_15_16 = {"msg"             , xinxi__ ,{ 0.29, 0.28, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {  120,   67,    0,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 1 , 0}};
  static const map_Square_t map_16_16 = {"point13"         , jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 7.80 , 4.58 } , nodes____ ,0 ,{ 0 , 0}};      
//static const map_Square_t map_17_16 = {};
//static const map_Square_t map_18_16 = {};
//static const map_Square_t map_19_16 = {};


// 第17列
//static const map_Square_t map_00_17 = {};
//static const map_Square_t map_01_17 = {};
//static const map_Square_t map_02_17 = {};
  static const map_Square_t map_03_17 = {"msg"             , xinxi__ ,{0.6, 1.70, 0.2, 0, 0, 0.00, 0.00, 0.00, 0.00, 0.00,},    {   70,  70,  30,  0,   0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 1 , 5}};
//static const map_Square_t map_04_17 = {"msg"             , xinxi__ ,{ 0.10, 0.70, 0.1, 0.0, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   40,  80,  80,  0,   0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 1}};      
//static const map_Square_t map_05_17 = {};
//static const map_Square_t map_06_17 = {};
//static const map_Square_t map_07_17 = {};
  static const map_Square_t map_08_17 = {"msg_xieban"      , xinxi__ ,{ 0.2, 1.8, 0.12, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   90,  100,   90,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 0 , 5}};      
//static const map_Square_t map_09_17 = {};
//static const map_Square_t map_10_17 = {};
//static const map_Square_t map_11_17 = {};
//static const map_Square_t map_12_17 = {};
//static const map_Square_t map_13_17 = {};
//static const map_Square_t map_14_17 = {};
//static const map_Square_t map_15_17 = {};
//static const map_Square_t map_16_17 = {};
//static const map_Square_t map_17_17 = {};
//static const map_Square_t map_18_17 = {};
//static const map_Square_t map_19_17 = {};


// 第18列
  static const map_Square_t map_00_18 = {"zhongpingtai"    , pingtai ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, {-1.91 , 5.67 } , nodes____ ,0 ,{ 0 , 0}};      //5.67
  static const map_Square_t map_01_18 = {"msg_jiansuban"   , xinxi__ ,{ 0.40, 1.00, 0.30, 0.20, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   70,  85,  90,  90,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 1 , 0}};      
  static const map_Square_t map_02_18 = {"point14"             ,  jiedian ,{ 0.25, 2.00, 0.25, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   0,  0,   0,    0,    0,    0,    0,    0,    0,    0,}, { -0.01, 5.67 } , nodes____  ,0 ,{ 0 , 0}};
  static const map_Square_t map_03_18 = {"msg_jiansuban"   , xinxi__ ,{ 0.20, 2.00, 0.64, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   120,  150,  130,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 5 , 0}};      
//  static const map_Square_t map_04_18 = {"msg"         , xinxi__,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 0.00 , 0.00} , msg_point,0 ,{ 0 , 0}};      //5.67
//  static const map_Square_t map_05_18 = {"msg_tixingshan"  , xinxi__ ,{ 0.2, 1.32, 0.80, 1.130, 2.0, 0.6, 0.0, 0.0, 0.0, 0.00,}, {   45,  100,  90,  95,  100,  100,  0,  0,   0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{11 , 0}};      
//static const map_Square_t map_06_18 = {};
  static const map_Square_t map_07_18 = {"msg_jiansuban"   , xinxi__ ,{ 0.20, 2.00, 0.64, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   120,  150,  130,  0,  0,  0,   0,    0,    0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 5 , 0}};
  static const map_Square_t map_08_18 = {"point15"             ,  jiedian ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {   0,  0,   0,    0,    0,    0,    0,    0,    0,    0,}, { 2.81, 5.67 } , nodes____  ,0 ,{ 0 , 0}};
  static const map_Square_t map_09_18 = {"msg_jiansuban"   , xinxi__ ,{ 0.2, 2.8, 1.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00,}, {   100,  110,  100,  0,  0,  0,  0,  0,   0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{ 7 , 0}};
//static const map_Square_t map_10_18 = {};
//static const map_Square_t map_11_18 = {};    
//static const map_Square_t map_12_18 = {};
//static const map_Square_t map_13_18 = {};
//static const map_Square_t map_14_18 = {};
  static const map_Square_t map_15_18 = {"msg_tixingshan"  , xinxi__ ,{ 0.43, 2.8, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00,}, {   120,  115,  95,  0,  0,  0,  0,  0,   0,    0,}, { 0.00 , 0.00 } , msg_point ,0 ,{7 , 0}};      
  static const map_Square_t map_16_18 = {"changpingtai"    , pingtai ,{ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00,}, {    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,}, { 6.89 , 5.67 } , nodes____ ,0 ,{ 0 , 0}};
//static const map_Square_t map_17_18 = {};
//static const map_Square_t map_18_18 = {};
//static const map_Square_t map_19_18 = {};


// 第19列
//static const map_Square_t map_00_19 = {};
//static const map_Square_t map_01_19 = {};
//static const map_Square_t map_02_19 = {};
//static const map_Square_t map_03_19 = {};
//static const map_Square_t map_04_19 = {};
//static const map_Square_t map_05_19 = {};
//static const map_Square_t map_06_19 = {};
//static const map_Square_t map_07_19 = {};
//static const map_Square_t map_08_19 = {};
//static const map_Square_t map_09_19 = {};
//static const map_Square_t map_10_19 = {};
//static const map_Square_t map_11_19 = {};
//static const map_Square_t map_12_19 = {};
//static const map_Square_t map_13_19 = {};
//static const map_Square_t map_14_19 = {};
//static const map_Square_t map_15_19 = {};
//static const map_Square_t map_16_19 = {};
//static const map_Square_t map_17_19 = {};
//static const map_Square_t map_18_19 = {};
//static const map_Square_t map_19_19 = {};


// ↓  →Y(cols)
// X(rows)
static const map_Square_t* map[ROWS][COLS] = {
//col =             0           1           2           3           4           5           6           7           8           9          10          11          12          13          14          15          16          17          18          19 
/*row= 0*/ { &map_00_00, NULL      , NULL      , NULL      , &map_00_04, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , &map_00_12, NULL      , NULL      , NULL      , NULL      , NULL      , &map_00_18, NULL      ,},
/*row= 1*/ { NULL      , &map_01_01, NULL      , NULL      , &map_01_04, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , &map_01_12, NULL      , NULL      , NULL      , NULL      , NULL      , &map_01_18, NULL      ,},
/*row= 2*/ { &map_02_00, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , &map_02_18, NULL      ,},
/*row= 3*/ { &map_03_00, NULL      , NULL      , &map_03_03, &map_03_04, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , &map_03_12, &map_03_13, NULL      , NULL      , NULL      , &map_03_17, &map_03_18, NULL      ,},
/*row= 4*/ { &map_04_00, NULL      , NULL      , NULL      , &map_04_04, &map_04_05, NULL      , NULL      , NULL      , NULL      , NULL      , &map_04_11, &map_04_12, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      ,},
/*row= 5*/ { &map_05_00, &map_05_01, NULL      , NULL      , &map_05_04, &map_05_05, NULL      , NULL      , NULL      , NULL      , NULL      , &map_05_11, &map_05_12, NULL      , NULL      , NULL      , &map_05_16, NULL      , NULL      , NULL      ,},
/*row= 6*/ { NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      ,},
/*row= 7*/ { NULL      , NULL      , NULL      , &map_07_03, &map_07_04, NULL      , NULL      , &map_07_07, NULL      , &map_07_09, NULL      , NULL      , &map_07_12, NULL      , NULL      , NULL      , NULL      , NULL      , &map_07_18, NULL      ,},
/*row= 8*/ { NULL      , NULL      , NULL      , NULL      , &map_08_04, NULL      , NULL      , NULL      , &map_08_08, NULL      , NULL      , NULL      , &map_08_12, &map_08_13, NULL      , NULL      , NULL      , &map_08_17, &map_08_18, NULL      ,},
/*row= 9*/ { NULL      , NULL      , NULL      , &map_09_03, &map_09_04, NULL      , NULL      , &map_09_07, NULL      , &map_09_09, NULL      , NULL      , &map_09_12, NULL      , NULL      , NULL      , NULL      , NULL      , &map_09_18,NULL      ,},
/*row=10*/ { NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      ,},
/*row=11*/ { &map_11_00, &map_11_01, NULL      , NULL      , &map_11_04, &map_11_05, NULL      , NULL      , NULL      , NULL      , NULL      , &map_11_11, &map_11_12, NULL      , NULL      , NULL      , &map_11_16, NULL      , NULL      , NULL      ,},
/*row=12*/ { &map_12_00, NULL      , NULL      , NULL      , &map_12_04, &map_12_05, NULL      , NULL      , NULL      , NULL      , NULL      , &map_12_11, &map_12_12, &map_12_13, NULL      , &map_12_15, &map_12_16, NULL      , NULL      , NULL      ,},
/*row=13*/ { &map_13_00, NULL      , NULL      , &map_13_03, &map_13_04, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , &map_13_12, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      ,},
/*row=14*/ { &map_14_00, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , &map_14_16, NULL      , NULL      , NULL      ,},
/*row=15*/ { NULL      , &map_15_01, NULL      , NULL      , &map_15_04, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , &map_15_12, NULL      , NULL      , NULL      , &map_15_16, NULL      , &map_15_18, NULL      ,},
/*row=16*/ { &map_16_00, NULL      , NULL      , NULL      , &map_16_04, NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , &map_16_12, &map_16_13, NULL      , &map_16_15, &map_16_16, NULL      , &map_16_18, NULL      ,},
/*row=17*/ { NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      ,},
/*row=18*/ { NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      ,},
/*row=19*/ { NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      , NULL      ,},
};
// // 定义左上角为原点，行优先的坐标系
// typedef struct
// {
//     int row;
//     int col;
// } matrix_coord;

// // 定义实际坐标系原点和格子大小
// typedef struct
// {
//     float m;
//     float n;
// } real_coord;
// const real_coord ORIGIN = {0.0f, 0.0f};
//该信息点是否检测门
// static const short int check_door_points[][2]=
// {
//     {4,5},
// };

//a星算法地图，8为道路，9为墙
static short int Astart_map[ROWS][COLS] = {
//  col =    0  1  2  3  4  5  6  7  8  9  10 11 12 13 14 15 16 17 18 19 
/*row= 0*/  {8, 9, 9, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 9, 9, 9, 9, 8, 9, },
/*row= 1*/  {9, 8, 9, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 9, 9, 9, 9, 9, 8, 9, },
/*row= 2*/  {8, 9, 8, 9, 8, 9, 9, 9, 9, 9, 9, 9, 8, 8, 8, 8, 8, 8, 8, 9, },
/*row= 3*/  {8, 9, 9, 8, 8, 9, 9, 9, 9, 9, 9, 9, 8, 8, 8, 8, 8, 8, 8, 9, },
/*row= 4*/  {8, 9, 9, 9, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 9, },
/*row= 5*/  {8, 9, 9, 9, 8, 8, 9, 9, 9, 9, 9, 8, 8, 9, 9, 9, 8, 9, 8, 9, },
/*row= 6*/  {8, 9, 9, 9, 8, 9, 8, 9, 9, 9, 8, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
/*row= 7*/  {8, 9, 9, 9, 8, 9, 9, 8, 9, 8, 9, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
/*row= 8*/  {8, 9, 9, 9, 8, 9, 9, 9, 8, 9, 9, 9, 8, 8, 8, 8, 8, 8, 8, 9, },
/*row= 9*/  {8, 9, 9, 8, 8, 9, 9, 8, 9, 8, 9, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
/*row= 10*/ {8, 9, 8, 9, 8, 9, 8, 9, 9, 9, 8, 9, 8, 9, 9, 9, 8, 9, 8, 9, },
/*row= 11*/ {8, 8, 9, 9, 8, 8, 9, 9, 9, 9, 9, 8, 8, 9, 9, 9, 8, 9, 8, 9, },
/*row= 12*/ {8, 9, 9, 9, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 9, 8, 9, },
/*row= 13*/ {8, 9, 9, 8, 8, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 8, 9, },
/*row= 14*/ {8, 9, 8, 9, 8, 9, 9, 9, 9, 9, 9, 9, 9, 9, 8, 9, 8, 9, 8, 9, }, 
/*row= 15*/ {9, 8, 9, 9, 8, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 8, 9, 8, 9, },
/*row= 16*/ {8, 9, 9, 9, 8, 9, 9, 9, 9, 9, 9, 9, 9, 8, 8, 8, 8, 9, 8, 9, },
/*row= 17*/ {9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, },
/*row= 18*/ {9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, },
/*row= 19*/ {9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, },};


//自定义转弯速度  对节点与平台有效
//0为使用默认值（TURN_SPEED） -1 为信息点或空点
static const double turn_speed[ROWS][COLS] = {
//  col =    0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19 
/*row= 0*/ { 0, -1, -1, -1,  0, -1, -1, -1, -1, -1, -1, -1,  0, -1, -1, -1, -1, -1,  1.5, -1, },
/*row= 1*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row= 2*/ { 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,  0, -1, },
/*row= 3*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row= 4*/ { 0, -1, -1, -1,  0, -1, -1, -1, -1, -1, -1, -1,  2, -1, -1, -1,  0, -1,  -1, -1, },
/*row= 5*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row= 6*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row= 7*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row= 8*/ {-1, -1, -1, -1,  2, -1, -1, -1,  2, -1, -1, -1, 2, -1, -1, -1, -1, -1,  2, -1, },
/*row= 9*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row=10*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row=11*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row=12*/ { 0, -1, -1, -1,  1.5, -1, -1, -1, -1, -1, -1, -1,  2, -1,  0, -1,  0, -1, -1, -1, },
/*row=13*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row=14*/ { 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,  0, -1,  0, -1, -1, -1, },
/*row=15*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row=16*/ { 0, -1, -1, -1,  0, -1, -1, -1, -1, -1, -1, -1,  0, -1, -1, -1,  0, -1,  1.5, -1, },
/*row=17*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row=18*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
/*row=19*/ {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, },
};


//自定义节点到车中心距离  对信息点有效
//0为使用默认值 -1 为空点 ,- 2 节点
static const float sensor_2_car_center[ROWS][COLS] = {
//  col =    0       1     2     3     4     5   6   7   8   9  10    11   12     13  14  15  16  17   18   19 
/*row= 0*/ {-2,     -1,   -1,   -1,    -2,  -1, -1, -1, -1, -1, -1,   -1,  -2,    -1, -1, -1, -1, -1,  -2,  -1, },
/*row= 1*/ {-1,      0,   -1,   -1,     0,  -1, -1, -1, -1, -1, -1,   -1,   0,    -1, -1, -1, -1, -1,   0,  -1, },
/*row= 2*/ {-2,     -1,   -1,   -1,    -1,  -1, -1, -1, -1, -1, -1,   -1,  -1,    -1, -1, -1, -1, -1,  -2,  -1, },
/*row= 3*/ { 0,     -1,   -1,    0,     0.3,  -1, -1, -1, -1, -1, -1,   -1,   0,    -1, -1, -1, -1, -1,   0,  -1, },
/*row= 4*/ {-2,     -1,   -1,   -1,    -2,   0.3, -1, -1, -1, -1, -1,    0.3,  -2,   0.33, -1,  0, -2,  0,  -1,  -1, },
/*row= 5*/ { 0,      0,   -1,   -1,     0,   0, -1, -1, -1, -1, -1,    0,   0,    -1, -1, -1,  0, -1,   0,  -1, },
/*row= 6*/ {-1,     -1,   -1,   -1,    -1,  -1, -1, -1, -1, -1, -1,   -1,  -1,    -1, -1, -1, -1, -1,  -1,  -1, },
/*row= 7*/ {-1,     -1,   -1,    0,     0,  -1, -1,  0, -1,  0, -1,   -1,  0.28,    -1, -1, -1, -1, -1,  -1,  -1, },
/*row= 8*/ {-1,     -1,   -1,   -1,    -2,  -1, -1, -1, -2, -1, -1,   -1,  -2,    -1, -1, -1, -1, 0.3,  -2,  -1, },
/*row= 9*/ {-1,     -1,   -1,    0,     0,  -1, -1,  0, -1,  0, -1,   -1,  -1,    -1, -1, -1, -1, -1,  -1,  -1, },
/*row=10*/ {-1,     -1,   -1,   -1,    -1,  -1, -1, -1, -1, -1, -1,   -1,  -1,    -1, -1, -1, -1, -1,  -1,  -1, },
/*row=11*/ { 0,      0,   -1,   -1,     0.28,   0.33, -1, -1, -1, -1, -1,    0,   0,    -1, -1, -1,  0, -1,  -1,  -1, },
/*row=12*/ {-2,     -1,   -1,   -1,    -2,   0, -1, -1, -1, -1, -1,    0,  -2,     0, -2,  0, -2, -1,  -1,  -1, },
/*row=13*/ { 0.22,    -1,   -1,    0,     0,  -1, -1, -1, -1, -1, -1,   -1,   0,    -1, -1, -1, -1, -1,  -1,  -1, },
/*row=14*/ {-2,     -1,   -1,   -1,    -1,  -1, -1, -1, -1, -1, -1,   -1,  -1,    -1, -2, -1, -2, -1,  -1,  -1, },
/*row=15*/ {-1,      0,   -1,   -1,     0,  -1, -1, -1, -1, -1, -1,   -1,   0,    -1, -1, -1,  0, -1,   0,  -1, },
/*row=16*/ {-2,     -1,   -1,   -1,    -2,  -1, -1, -1, -1, -1, -1,   -1,  -2,     0, -1,  0, -2, -1,  -2,  -1, },
/*row=17*/ {-1,     -1,   -1,   -1,    -1,  -1, -1, -1, -1, -1, -1,   -1,  -1,    -1, -1, -1, -1, -1,  -1,  -1, },
/*row=18*/ {-1,     -1,   -1,   -1,    -1,  -1, -1, -1, -1, -1, -1,   -1,  -1,    -1, -1, -1, -1, -1,  -1,  -1, },
/*row=19*/ {-1,     -1,   -1,   -1,    -1,  -1, -1, -1, -1, -1, -1,   -1,  -1,    -1, -1, -1, -1, -1,  -1,  -1, },  
};


//自定义平台到车中心距离  对信息点有效
//0为使用默认值 -1 为空点 ,- 2 节点
static const float sensor_2_car_center_pt[ROWS][COLS] = {
//  col =    0       1       2       3      4      5        6        7       8     9   10    11    12    13    14   15   16    17    18    19 
/*row= 0*/ {-2,     -1,     -1,     -1,    -2,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -2,   -1,   -1,  -1,  -1,   -1,   -2,   -1, },
/*row= 1*/ {-1,      0,     -1,     -1,     0,    -1,      -1,      -1,     -1,   -1,  -1,   -1,    0,   -1,   -1,  -1,  -1,   -1,    0.31,   -1, },
/*row= 2*/ {-2,     -1,     -1,     -1,    -1,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -2,   -1, },
/*row= 3*/ { 0,     -1,     -1,      0,     0,    -1,      -1,      -1,     -1,   -1,  -1,   -1,    0,   -1,   -1,  -1,  -1,   -1,    0,   -1, },
/*row= 4*/ {-2,     -1,     -1,     -1,    -2,     0,      -1,      -1,     -1,   -1,  -1,    0,   -2,    0,   -1,   0,  -2,    0,   -1,   -1, },
/*row= 5*/ { 0,      0,     -1,     -1,     0,     0,      -1,      -1,     -1,   -1,  -1,    0,    0,   -1,   -1,  -1,   0,   -1,    0,   -1, },
/*row= 6*/ {-1,     -1,     -1,     -1,    -1,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1, },
/*row= 7*/ {-1,     -1,     -1,      0,     0,    -1,      -1,       0,     -1,    0,  -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1, },
/*row= 8*/ {-1,     -1,     -1,     -1,    -2,    -1,      -1,      -1,     -2,   -1,  -1,   -1,   -2,   -1,   -1,  -1,  -1,   -1,   -2,   -1, },
/*row= 9*/ {-1,     -1,     -1,      0,     0,    -1,      -1,       0,     -1,    0,  -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1, },
/*row=10*/ {-1,     -1,     -1,     -1,    -1,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1, },
/*row=11*/ { 0,      0,     -1,     -1,     0,     0,      -1,      -1,     -1,   -1,  -1,    0,    0,   -1,   -1,  -1,   0,   -1,   -1,   -1, },
/*row=12*/ {-2,     -1,     -1,     -1,    -2,     0,      -1,      -1,     -1,   -1,  -1,    0,   -2,    0,   -2,   0,  -2,   -1,   -1,   -1, },
/*row=13*/ { 0,     -1,     -1,      0,     0,    -1,      -1,      -1,     -1,   -1,  -1,   -1,    0,   -1,   -1,  -1,  -1,   -1,   -1,   -1, },
/*row=14*/ {-2,     -1,     -1,     -1,    -1,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -1,   -1,   -2,  -1,  -2,   -1,   -1,   -1, },
/*row=15*/ {-1,      0,     -1,     -1,     0.23,    -1,      -1,      -1,     -1,   -1,  -1,   -1,    0,   -1,   -1,  -1,   0,   -1,    0.35,   -1, },
/*row=16*/ {-2,     -1,     -1,     -1,    -2,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -2,    0,   -1,   0,  -2,   -1,   -10,   -1, },
/*row=17*/ {-1,     -1,     -1,     -1,    -1,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1, },
/*row=18*/ {-1,     -1,     -1,     -1,    -1,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1, },
/*row=19*/ {-1,     -1,     -1,     -1,    -1,    -1,      -1,      -1,     -1,   -1,  -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1, },
};




//自定义转弯角度偏移，值可为+-  对节点与平台有效
//0为使用默认值 -1 为信息点或空点
static const float turn_angle_offset[ROWS][COLS] = {
//  col =      0    1     2     3     4     5     6     7     8     9    10    11    12    13   14   15    16    17    18    19 
/*row= 0*/ {   0,  -1,   -1,   -1,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,    0,   -1,  -1,  -1,   -1,   -1,    0,   -1, },
/*row= 1*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row= 2*/ {   0,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,    0,   -1, },
/*row= 3*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row= 4*/ {   0,  -1,   -1,   -1,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,    0,   -1,  -1,  -1,    0,   -1,   -1,   -1, },
/*row= 5*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row= 6*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row= 7*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row= 8*/ {  -1,  -1,   -1,   -1,    -13,   -1,   -1,   -1,    0,   -1,   -1,   -1,   0,   -1,  -1,  -1,   -1,   -1,   -5,   -1, },
/*row= 9*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row=10*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row=11*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row=12*/ {   0,  -1,   -1,   -1,   0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,    0,   -1,   0,  -1,    0,   -1,   -1,   -1, },
/*row=13*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row=14*/ {   0,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   0,  -1,    0,   -1,   -1,   -1, },
/*row=15*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row=16*/ {   0,  -1,   -1,   -1,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,    0,   -1,  -1,  -1,    0,   -1,    10,   -1, },
/*row=17*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row=18*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },
/*row=19*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,  -1,  -1,   -1,   -1,   -1,   -1, },

};


//自定义检测节点速度，  对信息点有效
//0为使用默认值 -1 为空点 ,- 2 节点
static const float check_node_speed[ROWS][COLS] = {
//  col =      0    1     2     3     4     5     6     7     8     9    10    11    12    13    14    15    16    17    18    19 
/*row= 0*/ {  -2,  -1,   -1,   -1,   -2,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -2,   -1,   -1,   -1,   -1,   -1,   -2,   -1, },
/*row= 1*/ {  -1,   0,   -1,   -1,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,    0,   -1,   -1,   -1,   -1,   -1,    0,   -1, },
/*row= 2*/ {  -2,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -2,   -1, },
/*row= 3*/ {   0,  -1,   -1,    0,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,    0,   -1,   -1,   -1,   -1,   -1,    0,   -1, },
/*row= 4*/ {  -2,  -1,   -1,   -1,   -2,    0,   -1,   -1,   -1,   -1,   -1,    0,   -2,    0,   -1,    0,   0,    0,   -1,   -1, },
/*row= 5*/ {   0,   0,   -1,   -1,    0,    0,   -1,   -1,   -1,   -1,   -1,    0,    0,   -1,   -1,   -1,    0,   -1,    0,   -1, },
/*row= 6*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1, },
/*row= 7*/ {  -1,  -1,   -1,    0,    0,   -1,   -1,    0,   -1,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1, },
/*row= 8*/ {  -1,  -1,   -1,   -1,   -2,   -1,   -1,   -1,   -2,   -1,   -1,   -1,   -2,   -1,   -1,   -1,   -1,   -1,   -2,   -1, },
/*row= 9*/ {  -1,  -1,   -1,    0,    0,   -1,   -1,    0,   -1,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1, },
/*row=10*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1, },
/*row=11*/ {   0,   0,   -1,   -1,    0,    0,   -1,   -1,   -1,   -1,   -1,    0,    0,   -1,   -1,   -1,    0,   -1,   -1,   -1, },
/*row=12*/ {  -2,  -1,   -1,   -1,   -2,    0,   -1,   -1,   -1,   -1,   -1,    0,   -2,    0,   -2,    0,   -2,   -1,   -1,   -1, },
/*row=13*/ {   0,  -1,   -1,    0,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1, },
/*row=14*/ {  -2,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -2,   -1,   -2,   -1,   -1,   -1, },
/*row=15*/ {  -1,   0,   -1,   -1,    0,   -1,   -1,   -1,   -1,   -1,   -1,   -1,    0,   -1,   -1,   -1,    0,   -1,    0,   -1, },
/*row=16*/ {  -2,  -1,   -1,   -1,   -2,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -2,    0,   -1,    0,   -2,   -1,   -2,   -1, },
/*row=17*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1, },
/*row=18*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1, },
/*row=19*/ {  -1,  -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1,   -1, },

};

#ifdef __cplusplus
}
#endif


#endif
